Touch interface device and method for applying lateral forces on a human appendage

ABSTRACT

A touch interface device includes a touch surface configured to be engaged by an object, first and second actuator assemblies operably connected to the touch surface, and a controller operably connected with the first and second actuator assemblies. The first actuator assembly displaces the touch surface in one or more lateral directions along the touch surface at a first frequency. The second actuator assembly displaces the touch surface in an angled direction that is one of at least obliquely or perpendicularly angled to the touch surface at a second frequency. The controller operates the first and second actuator assemblies so that the touch surface varies in engagement with the object to impart a force on the object that is along the touch surface.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.13/528,024, filed on Jun. 20, 2012, which claims priority benefit toU.S. Provisional Application No. 61/499,221, entitled “Touch InterfaceDevice And Method For Applying Lateral Forces On A Human Appendage,”which was filed on Jun. 21, 2011 (“the '221 application”), each of whichis incorporated by reference in its entirety.

This application incorporates in its entirety the subject matter of U.S.patent application Ser. No. 13/468,695, entitled “A Touch InterfaceDevice And Method For Applying Controllable Shear Forces To A HumanAppendage,” which was filed on May 10, 2012 (“the '695 application”).

This application incorporates in its entirety the subject matter of U.S.patent application Ser. No. 13/468,818, entitled “A Touch InterfaceDevice Having An Electrostatic Multitouch Surface And Method ForControlling The Device,” which was filed on May 10, 2012 (“the '818application”).

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

This invention was made with government support under IIS0964075 awardedby the National Science Foundation. The government has certain rights inthe invention.

BACKGROUND

Touch interface devices can include computing devices having touchsensitive surfaces used to receive input from operators of the devices.For example, many smart phones, tablet computers, and other devices havetouch sensitive screens that identify touches from operators as input tothe devices. Haptic or tactile feedback from such screens has emerged asa highly sought feature.

Effective mechanisms for producing such a physical sensation have beenlacking. Some known mechanisms include vibrating the entire device,while in others the screen is tapped or “popped”, or the screen isshimmied laterally. Interesting haptic effects can be produced, but theeffects fall short of the kind of tactile sensations that one encountersin touching an actual textured surface, or a device that has physicalbuttons or ridges or other physical haptic features.

Buttons in particular are a high priority. In touching a real button, auser's fingers are sensitive to the edges of the button, so that thelocation of the button is evident and the user has confidence, withoutlooking, of being properly registered or aligned to the button.

Touch is an “active sense,” as it is fundamentally an interplay of theuser's motion with the sensations received. Touch is seldom employedwithout motion. The sensation of touching a button or anotherfeature—such as a ridge, bump, curve, etc—may benefit from several modesof touch, which are generally used in combination.

A first mode is due to the pattern of force indenting the surface of thefingertip. This can be thought of as a static phenomenon, as, inprinciple, one could perceive a pattern just by pressing a fingertipinto contact with a surface. In practice the perception of a pattern isenhanced by sliding the fingertip across it, much as a reader of Brailleslides a finger across a Braille character, rather than pressing afinger onto it.

An additional mode is the guiding of fingertip motion that an edge orpattern presents. This mode seems to require (not just be enhanced by)motion of the fingertip. A sensation of letting the surface guide thefinger's motion is experienced. An example is following a ridge line,display edge, or the edge of a button that is large compared to thefingertip. Arrays of controls (buttons and switches) in vehicles presentmany such haptic features, to reduce reliance on vision. Other deviceswith which one wishes to become haptically familiar also tend to havestrong haptic features, e.g. musical instruments.

Additionally, lateral forces may be perceived even when there is noongoing finger motion at a given moment. For instance, a user may havepushed a finger up against a button edge or haptic feature, and left itin contact there, so that a lateral force continues to push back.

BRIEF DESCRIPTION

In accordance with one embodiment, a method for applying force from asurface to an object (such as a user's finger) is provided. The methodincludes moving the surface in one or more lateral directions of thesurface, wherein the moving in one or more lateral directions isperformed periodically at a frequency of at least about 1 kiloHertz. Themethod also includes periodically moving the surface in at least oneangled direction that is at least one of obliquely or perpendicularlyangled to the surface. The generally planar surface at least one ofarticulates into and out of contact with the object or varies in degreeof engagement with the object. The method further includes controllingthe moving in one or more lateral directions and moving in at least oneangled direction to impart a force that is oriented along the surface,wherein the force is configured to provide a haptic output to anoperator of a device that includes the surface.

In another embodiment, a touch interface device is provided. The touchinterface device includes a touch surface configured to be engaged by anobject. The touch interface also includes a first actuator assemblyoperably connected to the touch surface. The first actuator assembly isconfigured to displace the touch surface in one or more lateraldirections along the touch surface at a first frequency that is at leastabout 1 kiloHertz. Further, the touch interface includes a secondactuator assembly operably connected to the touch surface. The secondactuator assembly is configured to displace the touch surface in anangled direction that is at least one of obliquely or perpendicularlyangled to the touch surface at a second frequency, which may be close toor the same as the first frequency, and may vary in phase with respectthe first frequency. The touch interface device also includes acontroller operably connected with the first and second actuatorassemblies. The controller is configured to operate the first and secondactuator assemblies so that the touch surface varies in engagement withthe object to impart a force on the object that is along the touchsurface.

In another embodiment, a tangible and non-transitory computer readablestorage medium for a system that includes a processor is provided. Thecomputer readable storage medium includes one or more sets ofinstructions configured to direct the processor to control a firstactuator assembly to move a touch surface in one or more lateral alongthe touch surface, wherein the first actuator assembly moves thegenerally planar surface in the one or more lateral directionsperiodically at a frequency of at least about 1 kiloHertz. The processoris also directed to control a second actuator assembly to move at leasta portion of the generally planar surface in at one or more angleddirections that are at least one of obliquely or substantiallyperpendicularly angled to the touch surface. The second actuatorassembly moves the touch surface periodically. The processor is furtherdirected to control motion in the one or more lateral directions andmotion in one or more angled directions to impart a force on the objectalong the touch surface, wherein the force is configured to providehaptic output to an operator of a device that includes the touchsurface.

BRIEF DESCRIPTION OF THE DRAWINGS

The subject matter described herein will be better understood fromreading the following description of non-limiting embodiments, withreference to the attached drawings, wherein below:

FIG. 1 is a perspective view of a touch interface device in accordancewith one embodiment;

FIG. 2 is a schematic illustration of an interface device in accordancewith one embodiment;

FIG. 3 is a schematic view of a touch surface of the interface deviceshown in FIG. 1 in accordance with one embodiment;

FIG. 4 schematically illustrates another embodiment of an interfacedevice;

FIG. 5 is a mode shape map of an example of the touch surface shown inFIG. 4 in a bending mode;

FIG. 6 is a mode shape map of an example of the touch surface shown inFIG. 4 when the touch surface is laterally moving;

FIG. 7 is a schematic diagram of electrostatic force between twoobjects;

-   -   and

FIG. 8 is a flowchart of one embodiment of a method for imparting alateral force on a human appendage (e.g., a finger) with a touch surfaceof an interface device.

DETAILED DESCRIPTION

Embodiments of the present inventive subject matter provide for improvedperformance in haptic or tactile sensations provided by, for example, asurface such as a touch screen. In embodiments, motion in at least onedirection that is substantially co-planar with the screen is combinedwith motion in at least one of an oblique direction or a direction thatis substantially perpendicular to the surface. The motions aresynchronized or controlled to provide a sensation of lateral movement ofthe surface against an object, such as a finger or other appendage,positioned proximate to the screen.

For example, a vertical motion (substantially perpendicular to thescreen, or, as another example, substantially perpendicular to a touchpad) may bring the screen into and out of contact with a finger, whilethe lateral motion of the surface is controlled so that the lateralmotion is experienced in a chosen direction when the surface is at ornear a vertical peak (with the surface contacting the finger), withmovement in other lateral directions occurring when the surface is notin contact with the finger, and thus not experienced or sensed.

In other embodiments, the vertical or oblique movement may be such thatthe degree of engagement of the surface with an object, such as a fingeris varied. For example, a lateral force in a desired direction may beimparted by controlling the motions such that the surface is moving inthe desired lateral direction at or near a point of maximum engagement,while moving in another direction at a point of minimum engagement,whereby any motion may be imperceptible to a human at or near the pointof minimum engagement.

Further, the motions may be periodic at a frequency substantially highenough so that the periodicity is substantially imperceptible to humandetection. The frequency, for example, may be ultrasonic, so that thevibration is also not heard.

Thus, embodiments provide a net force in a selected direction ordirections. Further, embodiments provide for the perception of a forcethat can be applied to a finger (or other object) that is stationary, oreven moving in a similar direction as the force. In some embodimentssufficiently high frequency vibrations are employed to allow forvibrations that are not tactilely perceived by human touch and/orperceived by sound, so that the imparted force is experienced as aconstantly perceived force during the duration of the movement.

FIG. 1 is a perspective view of a touch interface device 100 inaccordance with one embodiment. In accordance with one or moreembodiments described herein, a planar, touch interface device 100 isprovided that actively applies force on an object, such as an appendageof a human body (for example, a finger) that touches a touch surface 102of the interface device 100. While the discussion herein focuses on ahuman fingertip as this appendage, it should be understood that otherappendages, such as toes, can be used, or the interface device could beplaced on other body surfaces, such as the torso. Additionally, thedevice 100 may apply forces to one or more other objects that are placedon the surface of the interface device 100, such as, for example, astylus or a writing implement. As another example, force may be appliedfrom the surface on a plurality of fingers. Moreover, while thediscussion herein focuses on using glass as the surface of the interfacedevice, alternatively, another type of surface can be used. Theinterface device 100 can be used as an input and/or output device for anelectronic component By way of example only, the interface device 100may be a touchscreen for a mobile phone, tablet computer, another typeof computer, a control apparatus for a system (e.g., a touchscreeninterface to control computerized systems), and the like. The touchsurface 102 may represent an electronic display that is both sensitiveto touch and that visually presents information to an operator.Alternatively, the touch surface 102 may represent another surface ofthe device 100 that does not electronically display information to theoperator. In the illustrated embodiment, the touch surface 102 issubstantially flat. In other embodiments, the touch surface 102 may be,for example, curved.

In the illustrated embodiment, the interface device 100 includes anouter housing 104 disposed around the touch surface 102. The interfacedevice 100 uses motion of the touch surface 102 along two or more axesto generate a net force on a human fingertip that is perceived by aperson utilizing the interface device 100. The interface device 100 caninclude a processor 106 that operates based on one or more sets ofinstructions stored on a tangible and non-transitory computer readablestorage medium (e.g., software stored on computer memory or hard wiredlogic) to move the touch surface 102. In one embodiment, the motions ofthe touch surface 102 are provided along one or more axes that liesubstantially in the plane of the touch surface 102, and also along oneor more axes that are not in the plane of the touch surface 102, such asalong an axis that is perpendicular to the plane of the touch surface102 and/or an axis that is obliquely angled to the plane of the touchsurface 102. The motion of the touch surface 102 along one or more axeswithin the plane of the touch surface 102 (or, for example, along one ormore directions generally along a curved touch surface) may be referredto herein as lateral motions or lateral vibrations, or planar motions orplanar vibrations, of the touch surface 102. The motion of the touchsurface 102 along one or more axes that are not in the plane (or alongthe surface) of the touch surface 102 may be referred to as obliquemotions, oblique vibrations, vertical motions, vertical vibrations,perpendicular motions, or perpendicular vibrations. Also, while theterms “vibrate” and “vibratory” may be used herein to describe themotion of the touch surface 102, the touch surface 102 may be moved inother ways that do not involve vibration of the touch surface 1002.

As described in more detail below, the lateral (or planar) motion andvertical (or non-planar) motion of the touch surface 102 can be used inconjunction with each other to move one or more points of the touchsurface 102 in an orbit The term “orbit” refers to the two-dimensionalor three-dimensional path taken by one or more points of the touchsurface 102. Based on a variety of factors, including the amplitude,frequency, and phase relationships of the lateral motions and thevertical motions, the touch surface 102 can impart a net force on one ormore fingers that engage the touch surface 102. This net force can be agenerally lateral force on the fingers and may be used to generate oneor more haptic effects of the touch surface 102.

The net force is referred to herein as being in a lateral (or planar)direction or being generally lateral in that the force may have avertical or non-planar component, but is experienced as a lateral forceby the object engaging or contacting the touch surface 102. For example,the vertical motion may be used to change the engagement of the objectwith the surface, so that only during a portion of the orbit of a pointon the screen is it applying a force to the object. The engagement maybe changed by bringing the surface into and out of contact with theobject, or the level or degree of engagement may be changed. Forexample, at or near a maximum level of engagement, the surface may besufficiently urged into the object so that the corresponding lateralmovement at that portion of the orbit is applied to the object as a netforce.

In the illustrated embodiment, the touch surface 102 is depicted as asingle continuous surface. In other embodiments, the touch surface 102may comprise a series of separate surfaces arranged as, for example,columns or rows, that are separately articulable with respect to eachother.

FIG. 2 is a schematic illustration of the interface device 100 inaccordance with one embodiment. The interface device 100 is shown inFIG. 2 with the outer housing 104 (shown in FIG. 1) removed. Lateral(planar) motions will be described in connection with FIG. 2. The touchsurface 102 is joined with actuators 200 (e.g., actuators 200 a-d) thatare joined to reaction masses 202 (e.g., reaction masses 202 a-d). Theactuators 200 are configured to move the touch surface along a lateralor planar direction, and thus may be considered lateral or planaractuators. The number and/or orientation of the actuators 200 andreaction masses 202 are provided as one example. In other embodiments, adifferent number and/or orientation and/or type of actuators and/orreaction masses may be used.

The actuators 200 may include, for example, piezoelectric elements,electromagnetic elements, or electrostatic elements that induce motionof the touch surface 102. Alternatively, one or more of the actuators200 may be another type of actuator that moves the touch surface 102.The reaction masses 202 provide bodies against which the actuators 200may push to move the touch surface 102. For example, piezoelectricactuators 200 may be energized and expand to push against the reactionmasses 202 and move the touch surface 102 in an opposite direction froma reaction mass being pushed against. As another example, electrostaticactuators 200 may be energized to generate an electric field that pushesthe actuators 200 away from or toward the corresponding reaction masses202 to move the touch surface 102. In the illustrated embodiment, theactuators are depicted as being substantially co-planar with the touchsurface and exerting forces that are substantially co-planar with thetouch surface. In alternate embodiments, other arrangements may beemployed. For example, linkages or other mechanisms may be employed toallow the actuators to be located beneath the touch surface. In suchembodiments, the actuators may exert forces on the linkages or othermechanisms that are substantially parallel to the touch screen, or at adifferent angle, such as substantially perpendicular to the touchscreen.

The reaction masses 202 may be mounted, for example, directly orindirectly to a housing, such as the housing 104 (shown in FIG. 1). Thereaction masses in some embodiments are sized and configured to providea desired resonance. Alternatively or additionally, the reaction massesmay be sized and configured to symmetrize oscillations, for example inthe manner of a tuning fork, to prevent or limit vibrations from passingbeyond a mounting structure to a case of a handheld device associatedwith the touch surface. The reaction masses and/or linkages discussedabove may be incorporated into a mounting assembly for the touch surfaceor may be implemented separately.

The actuators 200 are controlled to move the touch surface 102 in avariety of different directions, or along different paths. For example,the actuators 200 a and 200 c may become energized to move the touchsurface 102 in a downward direction 210 and an upward direction 212,respectively, as seen from the perspective of FIG. 2. Similarly, theactuators 200 b and 200 d may each be energized to move the touchsurface 102 in a left direction 214 and a right direction 216,respectively, as seen from the perspective of FIG. 2. Differentcombinations of actuators may be energized at various times to provideconcurrent motion along up/down and left/right directions (in the senseof FIG. 2) to describe various paths, such as circles, ellipses, orlines (e.g., degenerate ellipses).

As shown in the embodiment of FIG. 2, the actuators 200 may be arrangedin opposite pairs (e.g., a first pair of the actuators 200 a and 200 cand a second pair of the actuators 200 b and 200 d), located at severalpoints around an outer perimeter 204 of the touch surface 102. In otherembodiments, the actuators 200 may be light transmissive or transparentand located under the touch surface 102, such as a continuous sheet.Multiple actuators 200 may be distributed under the touch surface 102,even if not transparent, especially if the actuators 200 are relativelysmall and/or positioned so as not to interfere with the display ofelements on the touch surface 102. Such distributed actuators, forexample, may allow for better performance for larger area touch surfacesthan edge mounted actuators.

The resulting path of motion along the plane of the touch surface 102that is produced by one or more of the actuators 200 may be linear alonga single or a varying axis, or the motion may be circular or elliptical.In the example shown in FIG. 2, the touch surface 102 is moved in anelliptical path by the actuators 200, as shown by the movement of apoint 206 on the touch surface 102 along an elliptical path 208. Thevarious directions and/or shapes of the motion of the touch surface 102can be produced by variously driving the several actuators 200.

For example, by energizing the actuator 202 a to move the touch surface102 downward (along direction 210) at the same time as energizing theactuator 202 b to move the touch surface 102 leftward (along direction214), the overall resulting motion will be down and to the left. Byvarying the selected actuator or actuators as well as the level ofenergization of the selected actuator or actuators, paths such as lines,circles, ellipses, or other paths may be traversed by the point 206.

The actuators 200 may laterally move the touch surface 102 in a rapidmanner to laterally vibrate the touch surface 102 in various directions.The frequency at which the actuators 200 laterally vibrate the touchsurface 102 may be relatively large such that movement of the touchsurface 102 is not audible to a human operator of the interface device100. Further, the frequency in embodiments is selected so that thevibration, or oscillation, of the touch screen is substantiallyimperceptible to human detection, resulting in a perceived sensation ofa constant force or urging in a given direction or directions. Inembodiments, the frequency of lateral vibrations is at least about 1kiloHertz (kHz). In other embodiments, the frequency of lateralvibrations of the touch surface 102 may be at least 20 kHz. In otherembodiments, the frequency of the lateral vibrations may be at least 30kHz.

To reduce or minimize power consumption of a power source that energizesthe actuators 200 (e.g., an internal battery or external power source),the use of resonance in vibrating the touch surface 102 may be used sothat vibrational energy is not excessively dissipated. For example, acompliant mounting can be used to mount the touch surface 102 in theinterface device 100 that, in combination with the mass of the touchsurface 102, causes the touch surface 102 to resonate at a desiredfrequency. Further still, in embodiments, the reaction masses 202 may bedenser and/or smaller than the touch surface 102 and the oscillations ofthe touch surface 102 may be symmetrized in the manner of a tuning fork,so that vibrations do not pass beyond the mounting structure, into forinstance the outer housing 104 (shown in FIG. 1) of a handheld device.

The actuators 200 may also be coordinated to achieve a “focusing” ofvibrational energy at selected locations on the touch surface 102, forexample by a technique known as “time reversal.” Vibrational energy may,for instance, be focused on the locations where the fingers are touchingthe surface 102. The locations of focus may track the locations of thefingertips. In this way, there would be greater vibrational energy atthe fingertip locations, and less elsewhere.

As also discussed above, the actuators 200 may also be disposedunderneath the touch surface 102 instead of being located at the edges.Such positioning may, for instance, reduce the size of a bezel aroundthe perimeter of the touch surface 102. In embodiments, the actuators200 may be distributed across a large fraction of the area of touchscreen 102, or even, in embodiments, across substantially the entirearea of the touch screen 102. Such positioning, for example, may helpensure that each portion of the surface of 102 moves in a desiredmanner.

In alternate embodiments, lateral vibration may be produced fromperpendicular vibration (an example of perpendicular vibration isdiscussed in connection with FIG. 3) via the dynamics of the mounting,or via the dynamics of a linkage to a reaction mass. By appropriate useof compliant and massive elements in the mounting scheme, perpendicularvibration may move parts of the mounting that in tum create lateralmotions of the plate. The added dynamical elements—masses, compliances,and lever-like elements—may be implemented separately from the mountingscheme, but, in other embodiments are combined into the mounting at theperiphery of the surface.

Lateral and vertical vibrations may also be combined by bending of thesurface. Bending motions are naturally involved in certain perpendicularmotions (for example, as discussed below in connection with FIG. 4).Such bending motions typically occur about the midline of the materialcomprising the surface. For example, for a glass sheet about 2millimeters in thickness, the bending occurs about 1 millimeter belowthe surface, with both surfaces (upper and bottom) of the sheet movinglaterally as the sheet bends.

In another embodiment, lateral vibration of the touch surface 102 may beachieved by transmitting acoustic waves across the touch surface 102.For example, the actuators 200 may be acoustic transmitters oriented togenerate surface acoustic waves (SAW) across the plane of the touchsurface 102. The surface acoustic waves may induce lateral motion of thetouch surface 102.

As shown in FIG. 2, the lateral movement of the touch surface 102 by theactuators 200 can move the touch surface 102 along a variety of paths,such as circular paths, elliptical paths 208, and the like.Alternatively, a circular or elliptical path may degenerate into alinear path, such as movement of the touch surface 102 in opposingdirections. The vertical motion is controlled to be at or near a peak(where the touch surface 102 is urged into the object being contacted ator near a maximum amplitude), for example, by a controller such as theprocessor 106, corresponding to an appropriate point or range of pointsalong the path 208 to select the direction in which the imparted lateralforce is experienced. To vary the point or range of points selectedalong the path 208, the phase relationship of the vertical movement andthe lateral movement may be varied. If a desired direction is notavailable for a given lateral path, then the lateral path may be variedby adjusting the control of lateral actuators, such as the actuators200.

FIG. 3 is a schematic view of the touch surface 102 of the interfacedevice 100 shown in FIG. 1 in accordance with one embodiment. Thecombination of lateral vibrations or movements (or planar vibrations ormovements) with vertical vibrations or movements (or non-planar oroblique vibrations or movements) will be discussed in connection withFIG. 3. The touch surface 102 is shown from a side view in FIG. 3 ascompared to the top view of the touch surface 102 shown in FIG. 2. Thus,the plane of the touch surface 102 may be understood as extending acrossthe width and out of the page in the sense of FIG. 3. As describedabove, the touch surface 102 may be laterally moved or vibrated in anoscillatory manner. Lateral arrows 300, 302 in FIG. 3 represent some ofthe lateral motion of the touch surface 102. Due to the perspective ofFIG. 3, and for ease of explanation, the lateral motion appears as beinglimited to linear motion along the opposite lateral arrows 300, 302. Asdescribed above, however, the lateral motion may follow a non-linearpath, such as a circular or elliptical path 208 (shown in FIG. 2). Thelateral arrows 300, 302 may represent only a portion or component of thelateral motion of the touch surface 102.

In addition to the lateral motion, the touch surface 102 may be movedalong an axis that is out of the plane of the touch surface 102, such asby being vertically moved or vibrated along the opposite vertical arrows304, 306. The vertical direction, as used in connection with FIG. 3, issubstantially perpendicular to a plane defined by the touch surface 102.Alternatively, the touch surface 102 may be moved along another axis ordirection. The vertical movement of the touch surface 102 may be avibratory or periodic motion at a relatively high frequency, such as afrequency that is at least 1 kHz. In other embodiments, the frequency ofthe vertical vibration may be at least about 20 kHz. As another example,the frequency of the vertical vibrations may be at least about 30 kHz.In embodiments, the frequencies of both the lateral vibrations and thevertical vibrations are at least about 20 kHz or at least about 30 kHz.The frequencies of the lateral vibrations may differ or be the same asthe frequencies of the vertical vibrations.

Further, in embodiments, the resonances of the lateral vibrations andthe perpendicular vibrations are near enough in value so that a minimumof power is dissipated. Because the vertical and lateral resonances mayhave different inertial and compliant elements associated therewith, andalso due to manufacturing tolerances and inconsistencies, the lateraland vertical resonances may not be identical in frequency. However, dueto non-zero resonant bandwidths, the resonances do not need to beidentical to be driven efficiently at the same frequency. In otherembodiments, one of the lateral and vertical resonances may be aharmonic of the other resonance. In embodiments, the resonances have ahigh quality factor (Q) so that a minimum of power is dissipated.

Similarly, the embodiment shown in FIG. 2 may be used to generatelateral vibrations alone, or to generate both lateral vibrations andvertical vibrations of the touch surface 102. For example, verticalvibrations of the touch surface 102 may be generated due to bending ofthe touch surface 102 caused by the actuators 200.

Returning to the discussion of FIG. 3, two graphs 310, 312 are shown inFIG. 3. The graphs 310, 312 represent the periodic or oscillatorymovement of the touch surface 102. For example, the graph 310 representsthe periodic lateral movement of the touch surface 102 along two or moredirections (e.g., along the lateral arrows 300, 302) and the graph 312represents the periodic vertical movement of the touch surface 102 alongthe vertical arrows 304, 306. Both graphs 310, 312 are shown alongsideaxes 314 representative of time and axes 316 representative of amplitudeor magnitude of the corresponding lateral motion or vertical motion. Themovements represented by the graphs 310, 312 are provided merely asexamples. The periodic lateral motion represented by the graph 310 mayhave a different amplitude, frequency, and/or phase than the periodicvertical motion represented by the graph 312.

As shown in FIG. 3, the combination of the vertical and lateral movementof the touch surface 102 defines a path of travel, or orbit 322, of apoint 320 on the touch surface 102. In the illustrated embodiment, theorbit 322 is an ellipse, and the point 320 traverses the orbit 322 in acounterclockwise direction. By altering the phase relationship of thevertical and lateral movements, the direction could be changed toclockwise. Also, by altering the phase and/or amplitude of the motions,different shapes of orbit may be produced, including degenerate ellipsesin which the ellipse collapses to a line. The orbit 322 includes anupper peak 324 describing a location at which the point 320 is urged amaximum distance upward into the finger 308, and a lower peak 326 atwhich the point 320 is urged a maximum distance downward away from thefinger 308.

The out-of-plane motion of the touch surface 102 along the orbit 322(also corresponding to vertical arrow 304) can cause the touch surface102 to move up toward a finger 308 and contact or engage the finger 308at or near the upper peak 324 of the orbit 322. Alternatively oradditionally, the out-of-plane motion of the touch surface 102 mayfurther compress the touch screen 102 against a finger 308 that alreadyis in an engaged relationship (e.g., physically contacting) with thefinger 308, thus increasing a level or amount of engagement. When thetouch surface 102 moves upward to engage or further compress against thefinger 308, the concurrent lateral motion of the touch screen 102imparts a laterally directed force on the finger 308. For example, ifthe vertical motion of the touch surface 102 along the vertical arrow304 causes the touch surface 102 to engage the finger 308 when the touchsurface 102 also is laterally moving along the lateral arrow 302, thenthe touch surface 102 may impart a net force on the finger 308 thatpushes the finger 308 generally along the lateral direction 302. Asanother example, if the vertical motion of the touch surface 102 alongthe vertical arrow 304 causes the touch surface 102 to engage the finger308 when the touch surface 102 also is laterally moving along theopposite lateral arrow 300, then the touch surface 102 may impart a netforce on the finger 308 that pushes the finger 308 generally along thelateral direction 300. The net force that is imparted on the finger 308can be referred to as a net lateral force or lateral force. A forceimparted along a surface as discussed herein may be, for example,generally planar with a generally planar touch surface, generallycoincident with a curved touch surface, or at a relatively small angle(e.g. a few degrees) to a touch surface.

When the touch surface 102 moves downward, toward the lower peak 326(also corresponding to vertical arrow 306) to dis-engage or reduce alevel of engagement with the finger 308, the lateral motion is notconveyed strongly to the finger 308 (because, for example, the fingerdoes not contact the surface, or as another example, because the levelof engagement is low, or as another example, because the level ofengagement is reduced so that the movement is sensed much less stronglythan movement at or near the upper peak 324 of the orbit 322). Thus, byan “engage and push” phenomenon the object is affected strongly by onlya portion of the lateral path traversed by the touch surface.

Human sensitivity to vibration diminishes at higher frequencies. Thus,by selecting appropriately high frequencies, the engage-and pushphenomenon is experienced by a human user as a continuous push. Forexample, in embodiments, frequencies of about 20 kHz or higher areemployed. In other embodiments, for example, frequencies of about 30 kHzor higher are employed. Further still, embodiments described herein mayprovide an experienced lateral force to a non-moving object, such as afinger, in contrast to methods that rely on frictional modulation toapply a force to a moving finger. (It should be noted that frictionmodulation may be used to accentuate the experienced movement in certainembodiments, as discussed below.)

In one embodiment, lateral forces may be imposed on the finger 308 bythe combination of lateral movement and vertical movement of the touchsurface 102 at the same time as a friction coefficient of the touchsurface 102 is changed. Friction may be changed, for example, by varyingthe amplitude of the vertical movement. For example, larger verticalmovements may result in increased friction coefficients of the touchsurface 102. Conversely, smaller vertical movements may result inreduced friction coefficients of the touch surface 102. As anotherexample, friction may be varied by use of a force resulting fromelectrostatic attraction. The sensations of controllable lateral drive(e.g., imparting a net lateral force on the finger 308) and of“slipperiness” (e.g., changing the friction coefficient of the touchsurface 102) may be distinguishable to the user and independentselection and control of these sensations can confer greater designfreedom in creating a touch user interface with the touch surface 102.

The direction of the lateral force imparted on the finger 308 can beselected or controlled by varying the axes of the lateral vibrationsand/or vertical vibrations of the touch surface 102. For example,changing a direction of the lateral vibrations can cause the finger 308to be driven in another direction along the lateral vibrations when thetouch surface 102 moves upward and engages the finger 308. Utilizinglateral motions traversing shapes such as circles or ellipses in certainembodiments allows for the chosen direction to be changed by varying thephase relationship of the lateral and vertical movements withoutnecessarily requiring alteration of the lateral movement.

For example, FIG. 2 depicts an elliptical path 208 being traversed in acounterclockwise direction. By controlling the vertical and lateralmovement such that an object is engaged (or a level of engagement isincreased) at a given point along the elliptical path 208 and notengaged (or a level of engagement is decreased) at other points alongthe elliptical path 208, a direction may be selected. For example,direction 226 is tangential to the elliptical path 208 at point 224. Toselect direction 226 as the direction at which the net lateral force isimparted to the finger 308, the vertical and lateral oscillations orvibrations are controlled so that an upper peak of an orbit, such asorbit 322 in FIG. 3, occurs at about point 224.

In some embodiments, the lateral and vertical vibrations occur atsubstantially the same frequency. By altering one or both frequenciesslightly, the phase relationship of the vibrations may be changed. Thischange in phase relationship may be used to alter the point along theelliptical path 208 at which the upper peak of the orbit occurs. Forexample, by altering the phase relationship so that the upper peak ofthe orbit occurs at about point 228, the direction of the net lateralforce is shown by direction 230 (tangential to the elliptical path 208at point 228). Thus, by using a lateral path such as an ellipse,different directions of imparted net lateral force may be selected byvarying the phase relationship of the vertical and lateral oscillations,without necessarily altering the path of the lateral oscillation. Inother embodiments, shapes other than ellipses may be employed, such ascircles or lines. In other embodiments, the direction of the net lateralforce imparted is altered by varying the axis of the lateral vibration,either additionally or alternatively to adjusting the phase relationshipbetween the lateral and vertical vibrations.

The magnitude and direction of the lateral force on the finger 308 maybe selected or controlled by varying amplitudes of the lateralvibrations and vertical vibrations. For example, larger lateralvibrations of the touch surface 102 may impart a greater net force onthe finger 308 when the touch surface 102 moves upward to engage orcompress the finger 308. Conversely, smaller lateral vibrations canimpart a smaller net force on the finger 308. Larger vertical vibrationsof the touch surface 102 may impart a larger net force on the finger308, as the touch surface 102 may compress the finger 308 to a greaterdegree during the upward movement of the touch surface 102.

As also discussed above, the magnitude and direction of the lateralforce on the finger 308 may be selected or controlled by varying therelative phases, or phase relationship, of the lateral vibrations andvertical vibrations. For example, the difference in phases of theperiodic lateral vibrations and of the periodic vertical vibrations maychange the direction and/or magnitude of the lateral movement of thetouch surface 102 when the touch surface 102 moves upward to engage orcompress the finger 308. As described above, the direction and/ormagnitude of the lateral movement of the touch surface 102 can impart alateral force on the finger 308 in a same or similar direction when thetouch surface 102 engages the finger 308.

In some embodiments, the frequency of perpendicular (vertical)vibrations (referred to as f_(perp)) is equal to or substantially thesame as the frequency of the lateral vibrations (referred to asf_(lat)), while in other embodiments, the frequency of the perpendicularvibrations may differ from the frequency of the lateral vibrations. Iff_(lat)=f_(perp) (or harmonic multiples), the phase and/or amplitude ofthe two motions may be utilized to produce a desired path of movement ofa portion of the touch surface. In one embodiment, for example, thevertical and lateral motions are ninety degrees out of phase withrespect to each other and the amplitude f_(lat) is varied. The out ofphase motions can combine to produce an elliptical motion of the touchsurface 102, as described above. Other phase angles may be of interestin generating linear, elliptical, or circular motions.

As also discussed above, the interface device 100 may be configured toprovide resonances that allow the efficient conservation of power in theinterface device 100, for example, to reduce the sizes of the actuators200 (shown in FIG. 2) and/or power requirements of the interface device100. For example, a resonant lateral vibration may be established alonga first axis, and the first axis can be rotated to a new selected axiswithout losing much of the energy stored in the resonance. The phase ofa resonant vibration may be rotated or moved to a new selected phasewithout losing much of the energy stored in the resonance. The interfacedevice 100 may be configured to provide a desired resonance orresonances, for example, by appropriately selecting the configuration ofthe mounting of the screen, the size of the reactive masses, and thesize of the touch surface.

FIG. 4 schematically illustrates another embodiment of an interfacedevice 500. The interface device 500 may be similar to the interfacedevice 100 (shown in FIG. 1). The interface device 500 may include anouter housing that is similar to the housing 104 (shown in FIG. 1). Theinterface device 500 includes a touch surface 502 that may be similar tothe touch surface 102 (shown in FIG. 1) and that is concurrently orsimultaneously moved in two or more axes to define a lateral path usedto impart a net lateral force on the finger 308 when combined with avertical motion, as described above. The discussion of the interfacedevice 500 illustrates one example of providing vertical movement of thetouch surface 502. The interface device 500 provides vertical movementof the touch surface 102 in addition to lateral movement.

The interface device 500 includes lateral actuators 504 and verticalactuators 506. The actuators 504, 506 may be piezoelectric elements.Alternatively, one or more of the actuators 504, 506 may be another typeof actuator that moves the touch surface 502 laterally and vertically,such as electrostatic actuators. The lateral actuators 504 are coupledwith reaction masses 508 and coupler bodies 510. The coupler bodies 510are joined with the touch surface 502. The lateral actuators 504 aredisposed on opposite sides of the touch surface 502. The embodimentdepicted in FIG. 5 only includes lateral actuators on one pair ofopposite sides of the touch surface, allowing for left-right movement(in the sense of FIG. 5), but additional directions of movement may beprovided for in alternative embodiments. For example, additional lateralactuators 504, coupler bodies 510, and/or reaction masses 508 can beprovided in other locations, such as by being disposed on the other twoopposite sides of the touch surface 502.

The lateral actuators 504 are energized to move the touch surface 502 inone or more lateral directions 512, 514. The lateral actuators 504 pushagainst the reaction masses 508 to move the touch surface 502 in thelateral directions 512,514. The longitudinal compliance of the touchsurface 502, the reaction masses 508, and the lateral actuators 504 canform a resonant system. Perpendicular motion of the touch surface 502may be created by the vertical actuators 506. The vertical actuators 506may be energized to bend the touch surface 502 and thereby verticallymove portions of the touch surface 502 (e.g., in and out of the page ofFIG. 4, or in and out of a plane defined by the touch surface 502 atrest).

In embodiments, the interface device 500 is configured (for example, byselection of mounting components, reaction masses, and the like) suchthat the resonance for the lateral vibrations, and that for the verticalvibrations, may be near or equivalent to each other in frequency. Thus,for example, a bending mode resonant frequency of the touch surface 502may be substantially similar to a longitudinal resonant frequency of theresonant system formed by the longitudinal compliance of the touchsurface 502, the reaction masses 508, and the lateral actuators 504,with conventional oscillators and amplifiers used to drive both thelateral actuators 504 and the vertical actuators 506. Alternatively, thefrequency of the lateral vibrations or vertical vibrations may be aharmonic of the other. The frequency of the lateral vibrations and/orthe vertical vibrations may be shifted or changed slightly from time totime, for a brief interval, in order to change the phase relationship ofthe lateral and vertical vibrations without losing significant energy inso doing. Also, the amplitude of either or both oscillations may beadjusted if desired. As described above, changing the direction ormagnitude of the lateral force exerted on the finger 308 (see FIG. 3)may be accomplished by changing the phase relationship between thevertical vibration and the lateral vibration in one or two axes in theplane of the surface.

FIG. 5 is a mode shape map of an example of the touch surface 502 in abending mode. The color map indicates amplitude of out-of-planevibration, which peaks at approximately +/−1.5 microns. The resonantfrequency associated with this bending mode for the depicted embodimentis about 22 kHz, although in other embodiments other frequencies couldbe used. The distances represented in the map shown in FIG. 5 areprovided merely as examples and are not intended to be limiting on allembodiments described herein. In FIG. 5, different zones are used todepict different ranges of amplitude at a given moment during thebending of the illustrated touch surface. For example, the zones 524located along the edges of touch surface have an amplitude range ofabout 1 to 1.5 microns. The zone 532, located toward the center of thetouch surface, has an amplitude of about −0.5 microns to about −1microns. Intermediate zones 526 (about 0.5 microns to about 1 micron),528 (about 0 to about 0.5 microns), and 530 (about 0 to about −0.5microns) have amplitude ranges between those of the zones 524 and 532.

FIG. 6 is a mode shape map of an example of the touch surface 502 forlateral oscillation. In the mode shape of FIG. 6, the touch surface 502is resonating out-of-phase with the two reaction masses 508. In FIG. 6,the zones 546 associated with the reaction masses have an amplituderange of about 0.5 microns to about 1.5 microns, whereas the zone 540associated with the center of the touch surface has an amplitude rangeof about −1 microns to about −2 microns. The intermediate zones 542 havean amplitude range of about −0.5 microns to about −1 microns. Also, thezones 544 have an amplitude range of about −0.5 microns to about 0.5microns. The zones 544 have the smallest amplitude, or are the mostneutral, and thus may be used as mounting locations. The reaction masses508 may be tuned so that the frequency of this lateral resonance matchesthat of the bending mode resonance shown in FIG. 5. The amplitudes ofthe lateral resonance and the bending mode resonance may beapproximately the same as well, although other amplitudes could be used.

In one embodiment, the interface device 100 (shown in FIG. 1) controlsthe net lateral force imparted on the finger 308 by applying anelectrostatic force on the finger 308 at the same time that the verticalmovement of the touch surface 102 lifts the touch surface 102 to engagethe finger 308 and the lateral movement of the touch surface 102 impartsthe lateral force on the finger 308. The electrostatic force may attractthe finger 308 toward the touch surface 102 and thereby increase theengagement and, therefore, also increase the net lateral force on thefinger 308. Alternatively, the electrostatic force may providesufficient engagement between the surface and the finger, even in theabsence of vertical motion of the surface. For example, in order toincrease the net lateral force on the finger 308, the interface device100 may apply an electrostatic force on the finger 308 to attract thefinger 308 toward the touch surface 102 at the same time that the touchsurface 102 moves up toward the finger 308 and the lateral movement ofthe touch surface 102 laterally drives the finger 308 in a desireddirection. Electrostatic force may be used alternatively or additionallyto vertical actuators as discussed above, for example, with anattractive electrostatic force corresponding to an upper peak of anorbit provided by vertical actuators. Electrostatic force in someembodiments is more amenable to the creation of multiple independentregions each acting differently. A surface may be divided into manyportions or pads each receiving a force or sensation dedicated to thatportion or pad. Thus, for example, several fingers may touch a surfaceat or about the same time, with each finger receiving its own lateralforce and/or texture and/or friction level.

FIG. 7 is a schematic diagram of electrostatic force between twoobjects. The electrostatic force between two objects, such as betweenthe finger 308 and the touch surface 102 of the interface device 100 canbe modeled after a parallel plate capacitor. For example, in theillustrated example, a first object 400 represents an electrode disposedbelow the touch surface 102 of the interface device 100 and a secondobject 402 represents the finger 308. The objects 400, 402 are separatedby a separation distance (d). An electric potential difference, orvoltage, (V) is applied to create an electric field (E) between theobjects 400, 402. The electric field (E) is related to the potentialdifference (V) across the objects 400, 402 divided by the separationdistance (d). For present purposes, it shall be assumed that thedielectric constant does not vary across the separation.

In one embodiment, the length across the objects 400, 402 or the surfacearea of interaction between the objects 400, 402 is relatively largecompared to the separation distance (d). The electrostatic normal force(F) between the objects 400, 402 may be modeled as in a parallel platecapacitor and based on the following relationship:

$\begin{matrix}{F = \frac{{ɛɛ}_{o}{AV}^{2}}{2d^{2}}} & ( {{Equation}\mspace{14mu} {\# 1}} )\end{matrix}$

where F represents the electrostatic normal force, ε represents therelative permittivity (also known as the dielectric constant) of thetouch surface, ε₀ represents the permittivity of free space(=8.85×10⁻¹²Farads per meter), A represents the surface area of interface betweenthe objects 400, 402, V represents the potential difference across theobjects 400, 402, and d represents the separation distance between theobjects 400, 402.

The electrostatic normal force (F) may be estimated by assuming that thedielectric constant (e) is 5, the surface area (A) is 1×10⁻⁴ squaremeters (m²), and the separation distance (d) is 1×10⁻⁵ meters (m). For apotential difference (V) of 150 volts, the electrostatic normal force isapproximately 0.5 Newtons. This normal force would add on to the normalforce arising from vertical vibration of the touch surface and theassociated compression of the fingertip. An increased normal force givesrise to increased lateral force. A rough estimate of lateral force isthe normal force times the coefficient of friction. The coefficient offriction of skin on glass may be approximately unity, although it may bemore or less depending on factors such as surface finish. As a result,average lateral forces of about 0.25 Newtons or greater may be appliedto the finger that touches the surface. The electric field associatedwith the above parameters is E=V/d=1.5×10⁷ Volts per meter (V/m), whichmay be less than the breakdown strength of many insulators, such asparylene (2.8×10⁸ V/m). Thus, even higher electric field strengths than1.5×10⁷ V/m may be feasible without exceeding the breakdown strength ofthe touch surface.

FIG. 8 is a flowchart of one embodiment of a method 800 for imparting alateral force on a human appendage (e.g., a finger) with a touch surfaceof an interface device. The method 800 may be used in conjunction withone or more of the interface devices, such as interface devices 100, 500shown and described above.

At 802, a touch surface is coupled with lateral actuators. For example,a touch surface, such as one of the touch surfaces 102, 502 discussedabove may be coupled with lateral actuators, such as the actuators 200,504 discussed above, that laterally move the touch surfaces 102, 502 inone or more directions in the planes of the touch surfaces 102, 502.

At 804, the touch surface is coupled with vertical actuators. Forexample, the touch surfaces 102, 502 may be coupled with verticalactuators, such as the actuators 506 discussed above, that verticallymove the touch surfaces 102, 502 in one or more directions that areoriented perpendicular or obliquely to the planes of the touch surfaces102, 502.

At 806, the touch surface is laterally moved. As 808, the touch surfaceis vertically moved. The movements associated with 806 and 808 may occursimultaneously or concurrently. For example, the touch surfaces 102, 502may vibrate in two or more directions in the planes of the touchsurfaces 102, 502 at the same time that the touch surfaces 102, 502 bendor otherwise move vertically in two or more directions. The combinedlateral and vertical movements of the touch surfaces 102, 502 can causeone or more points on the touch surfaces 102, 502 to move in a two orthree dimensional orbit, such as the circumnavigation of a circle,ellipse, line, quadrilateral, sphere, ellipsoid, or the like.

At 810, the touch surface engages an appendage to impart a lateral forceon the appendage. For example, the touch surfaces 102, 502 may engageone or more fingers 308 to impart a lateral force on the fingers 308. Asdescribed above, the vertical movement of the touch surfaces 102,502 maycause the touch surfaces 102,502 to engage and/or press against thefingers 308 and the lateral movement of the touch surfaces 102, 502 mayimpart the lateral force on the fingers 308.

In accordance with one or more embodiments described herein, hapticeffects can be created in a touch device by modulating the shear forcesapplied to a fingertip as a function of finger location, fingervelocity, and/or finger acceleration. The shear force also can depend onevents occurring in a computer program, such as a “virtual” collisionoccurring in an electronic game that is played on the touch device.

It should be appreciated that the ability to modulate force on one ormore appendage is part of what makes haptic feedback via a touch surfacepossible. To create haptic experiences that are useful and/orinteresting, it is generally important to generate forces that closelycorrespond to specific actions of the fingertips and/or to specificevents occurring under software control. By way of illustration,consider a game in which the fingertips are used both to bat a ball, andto capture the ball. In this illustration, the ball is a simulated ballthat appears on a computer display disposed underneath the touchsurface. Consider the act of batting the ball with one finger. In thiscase, the lateral force generated by certain methods and systemsdescribed herein would depend on both the position and velocity of thefinger as well as the position and velocity of the simulated ball. Evenhigher derivatives of position, such as acceleration, might also beinvolved. In one embodiment, the force exerted on the finger mightincrease when the position of the finger intersects that of the surfaceof the ball, indicating a collision. The force might also depend on therelative velocity of the finger and the ball, increasing for highervelocities. Thus, unlike many existing technologies, the force is not asimple vibration, but is an active force that varies as a function ofstate variables such as positions, velocities and accelerations. Nowconsider the act of capturing the ball and holding it between twofingers. In this case, the reaction forces at the two fingers, which areagain functions of state variables such as positions and velocities,should point in approximately opposite directions. As the ball is held,the forces should persist. Unlike many existing technologies, the forceprovided by certain embodiments described herein is neither a simplevibration nor even a transient. The abilities to generate persistentforces, and to generate different forces at different fingers, areadvantages of the technology described here. In the above discussion, itshould be apparent that the technology described here may be integratedwith means of measuring the position of one or more fingertips, and withmeans of displaying graphic images (and also audio, since events likebatting a ball are often accompanied by sound).

There are many techniques for measuring fingertip positions and whichmay be used here. These include, without limitation, resistive, surfacecapacitive, projected capacitive, infrared, acoustic pulse recognition,and in-cell optical sensing. There are also many techniques fordisplaying graphic images and audio. Most of these may combine easilywith the lateral drive techniques described here, but capacitive andprojective capacitive sensing might seem to interfere with the rapidlyvarying electric fields used in the electrostatic embodiments. However,capacitive and projective capacitance sensing may be done at a muchhigher frequency, in the megahertz range, with filtering to separate thesignals related to capacitive sensing from those resulting fromactuation. It may be desirable to use the same electrodes for bothpurposes.

In accordance with one embodiment, a method for applying force from asurface to an object is provided. The method includes moving the surfacein one or more lateral directions of the surface, wherein the moving inone or more lateral directions is performed periodically at a frequencyof at least about 1 kiloHertz. The method also includes periodicallymoving the surface in at least one angled direction that is at least oneof obliquely or perpendicularly angled to the surface. The generallyplanar surface articulates into and out of contact with the object orvaries in degree of engagement with the object. The method furtherincludes controlling the moving in one or more lateral directions andmoving in at least one angled direction to impart a force that isoriented along the surface, wherein the force is configured to provide ahaptic output to an operator of a device that includes the surface.

In another aspect, the moving in one or more lateral directions andmoving in at least one angled direction are performed at substantiallythe same frequency. Further, in embodiments, a direction of the impartedforce is varied by varying a phase relationship between the moving inone or more lateral directions and moving in at least one angleddirection.

In another aspect, one of the moving in one or more lateral directionsand moving in at least one angled direction is performed at a harmonicfrequency of the other of the moving in one or more lateral directionsand moving in at least one angled direction.

In another aspect, the moving in one or more lateral directions isperformed periodically at a frequency substantially above a frequencythat vibrations are tactilely perceived by humans. The moving in one ormore lateral directions may be performed periodically at a frequency ofat least about 20 kiloHertz. Further, in some embodiments, the moving inone or more lateral directions is performed periodically at a frequencyof at least about 30 kiloHertz.

In another aspect, the method further includes modulating a frictionalforce experienced by the object concurrently with the moving in at leastone angled direction. For example, in some embodiments, the frictionalforce is modulated by varying an electrostatic attraction between theobject and the surface. Optionally, the electrostatic attraction has adifferent amplitude or phase at a plurality of points distributed aboutthe surface, whereby a plurality of objects contacting the surfaceexperience different imparted forces.

In another aspect, the surface is generally planar and the one or morelateral directions of the surface are substantially co-planar with thesurface.

In another embodiment, a touch interface device is provided. The touchinterface device includes a touch surface configured to be engaged by anobject. The touch interface also includes a first actuator assemblyoperably connected to the touch surface. The first actuator assembly isconfigured to displace the touch surface in one or more lateraldirections along the touch surface at a first frequency that is at leastabout 1 kiloHertz. Further, the touch interface includes a secondactuator assembly operably connected to the touch surface. The secondactuator assembly is configured to displace the touch surface in anangled direction that is at least one of obliquely or perpendicularlyangled to the touch surface at a second frequency. The touch interfacedevice also includes a controller operably connected with the first andsecond actuator assemblies. The controller is configured to operate thefirst and second actuator assemblies so that the touch surface varies inengagement with the object to impart a force on the object that is alongthe touch surface.

In another aspect, the first actuator assembly is configured to displacethe touch surface at a first frequency that is at least about 20kiloHertz.

In another aspect, the first actuator assembly is configured to displacethe touch surface at a first frequency that is at least about 30kiloHertz.

In another aspect, the first frequency and the second frequency aresubstantially the same.

In another aspect, the controller is further configured to vary adirection of the imparted force by varying a phase relationship betweena first oscillation in the one or more lateral directions and a secondoscillation in the angled direction.

In another aspect, the touch interface device includes a first massivesystem and a second massive system. The first massive system includes atleast one of a first mounting or a first reactive mass. The secondmassive system includes at least one of a second mounting or a secondreactive mass. The resonances of the first massive system and the secondmassive system are substantially the same.

In another embodiment, a tangible and non-transitory computer readablestorage medium for a system that includes a processor is provided. Thecomputer readable storage medium includes one or more sets ofinstructions configured to direct the processor to control a firstactuator assembly to move a touch surface in one or more lateral alongthe touch surface, wherein the first actuator assembly moves thegenerally planar surface in the one or more lateral directionsperiodically at a frequency of at least about 1 kiloHertz. The processoris also directed to control a second actuator assembly to move at leasta portion of the generally planar surface in at one or more angleddirections that are at least one of obliquely or substantiallyperpendicularly angled to the touch surface. The second actuatorassembly moves the touch surface periodically. The processor is furtherdirected to control motion in the one or more lateral directions andmotion in one or more angled directions to impart a force on the objectalong the touch surface, wherein the force is configured to providehaptic output to an operator of a device that includes the touchsurface.

In another aspect, the motion in one or more lateral directions andmotion in one or more angled directions are performed at substantiallythe same frequency. Further, in embodiments, a direction of the impartedforce is varied by varying a phase relationship between the motion inone or more lateral directions and motion in one or more angleddirections. In another aspect, the processor is further configured tomodulate a frictional force experienced by the object concurrently withthe motion in one or more angled directions. For example, in embodimentsthe frictional force is modulated by varying an electrostatic attractionbetween the object and the touch surface. Further, in additionalembodiments, the electrostatic attraction has a different amplitude at aplurality of points distributed about the touch surface, whereby aplurality of objects contacting the touch surface experience differentimparted forces.

It is to be understood that the above description is intended to beillustrative, and not restrictive. For example, the above-describedembodiments (and/or aspects thereof) may be used in combination witheach other. In addition, many modifications may be made to adapt aparticular situation or material to the teachings of the inventivesubject matter without departing from its scope. While the dimensionsand types of materials described herein are intended to define theparameters of the inventive subject matter, they are by no meanslimiting and are example embodiments. Many other embodiments will beapparent to one of ordinary skill in the art upon reviewing the abovedescription. The scope of the one or more embodiments of the subjectmatter described herein should, therefore, be determined with referenceto the appended claims, along with the full scope of equivalents towhich such claims are entitled. In the appended claims, the terms“including” and “in which” are used as the plain-English equivalents ofthe respective terms “comprising” and “wherein.” Moreover, in thefollowing claims, the terms “first,” “second,” and “third,” etc. areused merely as labels, and are not intended to impose numericalrequirements on their objects. Further, the limitations of the followingclaims are not written in means-plus-function format and are notintended to be interpreted based on 35 U.S.C. § 112, sixth paragraph,unless and until such claims limitations expressly use the phrase “meansfor” followed by a statement of function void of further structure.

This written description uses examples to disclose several embodimentsof the inventive subject matter, and also to enable a person of ordinaryskill in the art to practice the embodiments disclosed herein, includingmaking and using any devices or systems and performing any incorporatedmethods. The patentable scope of the subject matter may be defined bythe claims, and may include other examples that occur to one of ordinaryskill in the art. Such other examples are intended to be within thescope of the claims if they have structural elements that do not differfrom the literal language of the claims, or if they include equivalentstructural elements with insubstantial differences from the literallanguages of the claims.

The foregoing description of certain embodiments the disclosed subjectmatter will be better understood when read in conjunction with theappended drawings. To the extent that the figures illustrate diagrams ofthe functional blocks of various embodiments, the functional blocks arenot necessarily indicative of the division between hardware circuitry.Thus, for example, one or more of the functional blocks (for example,processors or memories) may be implemented in a single piece of hardware(for example, a general purpose signal processor, microcontroller,random access memory, hard disk, and the like). Similarly, the programsmay be stand alone programs, may be incorporated as subroutines in anoperating system, may be functions in an installed software package, andthe like. In embodiments, one or more of the functional blocks areimplemented via a non-transitory computer storage medium that does notinclude signals. The various embodiments are not limited to thearrangements and instrumentality shown in the drawings.

As used herein, an element or step recited in the singular and proceededwith the word “a” or “an:’ should be understood as not excluding pluralof said elements or steps, unless such exclusion is explicitly stated.Furthermore, references to “one embodiment” of the presently describedinventive subject matter are not intended to be interpreted as excludingthe existence of additional embodiments that also incorporate therecited features. Moreover, unless explicitly stated to the contrary,embodiments “comprising,” “including,” or “having” an element or aplurality of elements having a particular property may includeadditional such elements not having that property.

Since certain changes may be made in the above-described systems andmethods, without departing from the spirit and scope of the subjectmatter herein involved, it is intended that all of the subject matter ofthe above description or shm.vn in the accompanying drawings shall beinterpreted merely as examples illustrating the inventive conceptsherein and shall not be construed as limiting the disclosed subjectmatter.

1. A method for applying a perceived continuous pushing force from atouch surface to a body part, the method comprising: operating acontroller for a first and second plurality of actuators configured tomove the touch surface to impart the perceived continuous pushing forceon the body part, wherein the first plurality of actuators moves thetouch surface in one or more lateral directions; wherein the secondplurality of actuators moves the touch surface at an angled directionthat is obliquely or perpendicularly angled to the touch surface;periodically moving the touch surface in the one or more lateraldirections; periodically moving the touch surface in the angleddirection such that a degree of engagement of the touch surface with thebody part varies periodically; controlling and synchronizing movement ofthe touch surface in the one or more lateral directions and movement ofthe touch surface in the angled direction by modulating at least one ofamplitude, phase and frequency of the lateral and anguled directionmovements, wherein the modulating is-perceptible to detection from thebody part and produces the perceived continuous pushing force on thebody part, and wherein the perceived continuous pushing force isoriented in one of the lateral directions along the touch surface.
 2. Atouch interface device comprising: a touch surface configured to beengaged by a body part by applying a perceived continuous pushing force;a first actuator assembly operably connected to the touch surface,wherein the first actuator assembly oscillates the touch surface in oneor more lateral directions along the touch surface at a first frequency;a second actuator assembly operably connected to the touch surface,wherein the second actuator assembly oscillates the touch surface in theangled direction at a second frequency such that a degree of engagementof the touch surface with the body part varies periodically; and acontroller operably connected with the first and second actuatorassemblies, wherein the controller synchronizes oscillatory movement ofthe first and second actuator assemblies so that the touch surface movesin the one or more lateral directions and in the one or more angleddirections that are obliquely or perpendicularly to the touch surfaceand modulates at least one of amplitude, phase and frequency of thelateral and angular direction movements; and wherein the modulating isperceptible to detection by the body part and wherein said modulatingvaries in engagement with the body party and imparts a perceivedcontinuous pushing force on the body part in one of the lateraldirections along the touch surface.
 3. A tangible and non-transitorycomputer readable storage medium for a system that includes a processor,the non-transitory computer readable storage medium including one ormore sets of instructions configured to direct the processor to: controla first actuator assembly to move a touch surface in one or more lateraldirections along the touch surface so as to engage engagement body part,wherein the first actuator assembly moves the generally planar touchsurface in the one or more lateral directions periodically; control asecond actuator assembly to move at least a portion of the touch surfacein one or more angled directions that are obliquely or perpendicularlyangled to the touch surface to also engage the body part, wherein thesecond actuator assembly moves the generally planar touch surface in oneor more angled directions periodically; control and synchronize motionof the touch surface in the one or more lateral directions and in theone or more angled directions that are obliquely or perpendicularly tothe touch surface including modulating at least one of amplitude, phase,and frequency of the angular and lateral movements; and wherein themodulating is perceptible to detection by the body party and whereinsaid modulating produces perceived continuous pushing force on the bodypart in one of the lateral directions along the touch surface, whereinthe force provides haptic output to an operator of a device thatincludes the touch surface.